diff --git a/doc/additionalDoc/debug-logger.h b/doc/additionalDoc/debug-logger.h
index 53514b582eb914310ff21e385c4f867239fba328..dce8cde54c49ba4171fc25a0e6c6e93498d38790 100644
--- a/doc/additionalDoc/debug-logger.h
+++ b/doc/additionalDoc/debug-logger.h
@@ -35,11 +35,11 @@ Inside the constructor of the entity:
\endcode
The first line sets the frequency at which the logger will be updated.<br>
-The second line specifies at which frequency the message should be
+The second line specifies at which frequency the STREAM messages should be
printed.<br>
The third line specifies the level of message to accept.<br>
The fourth line returns the level of verbosity.
-In this case, all messages are accepted. <br>
+In this case, all messages are accepted and the STREAM message are displayed on the output streams once on five. <br>
The full list of options are:
<ul>
@@ -54,15 +54,19 @@ The full list of options are:
Here is some example on how to display or record some information.
\code
- sendMsg("This is a message of level MSG_TYPE_DEBUG",MSG_TYPE_DEBUG);
- sendMsg("This is a message of level MSG_TYPE_INFO",MSG_TYPE_INFO);
- sendMsg("This is a message of level MSG_TYPE_WARNING",MSG_TYPE_WARNING);
- sendMsg("This is a message of level MSG_TYPE_ERROR",MSG_TYPE_ERROR);
- sendMsg("This is a message of level MSG_TYPE_DEBUG_STREAM",MSG_TYPE_DEBUG_STREAM);
- sendMsg("This is a message of level MSG_TYPE_INFO_STREAM",MSG_TYPE_INFO_STREAM);
- sendMsg("This is a message of level MSG_TYPE_WARNING_STREAM",MSG_TYPE_WARNING_STREAM);
- sendMsg("This is a message of level MSG_TYPE_ERROR_STREAM",MSG_TYPE_ERROR_STREAM);
+ sendMsg("This is a message of level MSG_TYPE_DEBUG",MSG_TYPE_DEBUG, __FILE__,__LINE__);
+ sendMsg("This is a message of level MSG_TYPE_INFO",MSG_TYPE_INFO, __FILE__,__LINE__);
+ sendMsg("This is a message of level MSG_TYPE_WARNING",MSG_TYPE_WARNING, __FILE__,__LINE__);
+ sendMsg("This is a message of level MSG_TYPE_ERROR",MSG_TYPE_ERROR, __FILE__,__LINE__);
+ sendMsg("This is a message of level MSG_TYPE_DEBUG_STREAM",MSG_TYPE_DEBUG_STREAM, __FILE__,__LINE__);
+ sendMsg("This is a message of level MSG_TYPE_INFO_STREAM",MSG_TYPE_INFO_STREAM, __FILE__,__LINE__);
+ sendMsg("This is a message of level MSG_TYPE_WARNING_STREAM",MSG_TYPE_WARNING_STREAM, __FILE__,__LINE__);
+ sendMsg("This is a message of level MSG_TYPE_ERROR_STREAM",MSG_TYPE_ERROR_STREAM, __FILE__,__LINE__);
logger_.countdown();
\endcode
+
+Specifying the file with __FILE__ and the line inside the file by __LINE__ are necessary for the
+STREAM messages. Indeed they are indexed using the two values. As the default value are "" and 0
+the counting will be confused.
*/
diff --git a/include/dynamic-graph/entity.h b/include/dynamic-graph/entity.h
index 5c57b5f37cf7a8e8f7530ca960acdc6e687d48fa..1db47a3796efa14964594e79dab6bf968d5bc206 100644
--- a/include/dynamic-graph/entity.h
+++ b/include/dynamic-graph/entity.h
@@ -112,7 +112,24 @@ namespace dynamicgraph
/// \brief Get the logger's verbosity level.
LoggerVerbosity getLoggerVerbosityLevel()
- { return logger_.getVerbosity(); };
+ { return logger_.getVerbosity(); }
+
+ /// \brief Set the time sample.
+ bool setTimeSample(double t)
+ { return logger_.setTimeSample(t); }
+
+ /// \brief Get the time sample.
+ double getTimeSample()
+ { return logger_.getTimeSample();}
+
+ /// \brief Set the period of the stream period
+ bool setStreamPrintPeriod(double t)
+ { return logger_.setStreamPrintPeriod(t); }
+
+ /// \brief Get the period of the stream period
+ double getStreamPrintPeriod()
+ { return logger_.getStreamPrintPeriod();}
+
protected:
void addCommand(const std::string& name,command::Command* command);
diff --git a/include/dynamic-graph/logger.h b/include/dynamic-graph/logger.h
index 46a58ca3380ba5234490c3270a092c849ee14887..a88e9501c3d85f1816d4517031194a128623cfbf 100644
--- a/include/dynamic-graph/logger.h
+++ b/include/dynamic-graph/logger.h
@@ -178,9 +178,16 @@ namespace dynamicgraph {
* is going to be called. */
bool setTimeSample(double t);
+ /** Get the sampling time at which the method countdown()
+ * is going to be called. */
+ double getTimeSample();
+
/** Set the time period for printing of streaming messages. */
bool setStreamPrintPeriod(double s);
+ /** Get the time period for printing of streaming messages. */
+ double getStreamPrintPeriod();
+
/** Set the verbosity level of the logger. */
void setVerbosity(LoggerVerbosity lv);
diff --git a/include/dynamic-graph/signal-ptr.h b/include/dynamic-graph/signal-ptr.h
index 4acdffed1b433d0c2ec5e46c0a31ed20def7ab5f..29969ce6fc5ebc15ed2830764b64b3bd737c0b0e 100644
--- a/include/dynamic-graph/signal-ptr.h
+++ b/include/dynamic-graph/signal-ptr.h
@@ -129,8 +129,9 @@ namespace dynamicgraph
std::string next2="" ) const;
protected: // Interdiction of the rest of the heritage
-
+ using Signal<T,Time>::addDependency;
virtual void addDependency () {}
+ using Signal<T,Time>::removeDependency;
virtual void removeDependency () {}
virtual void clearDependencies () {}
diff --git a/src/debug/logger.cpp b/src/debug/logger.cpp
index 7aa01ccf7e0e9872013cb6425be0527bf7c95b0a..b4c2fc3bad2ff3ea4d6db0e255b9e142fcabd61c 100644
--- a/src/debug/logger.cpp
+++ b/src/debug/logger.cpp
@@ -62,7 +62,7 @@ namespace dynamicgraph
return;
// if print is allowed by current verbosity level
- if(isStreamMsg(type))
+ if( isStreamMsg(type))
{
// check whether counter already exists
string id = file+toString(line);
@@ -78,7 +78,10 @@ namespace dynamicgraph
if(it->second>0.0)
{
it->second -= m_timeSample;
- return;
+ if (it->second<=0.0)
+ it->second = m_streamPrintPeriod;
+ else
+ return;
}
else // otherwise reset counter and print
it->second = m_streamPrintPeriod;
@@ -101,4 +104,14 @@ namespace dynamicgraph
m_streamPrintPeriod = s;
return true;
}
+
+ double Logger::getTimeSample()
+ {
+ return m_timeSample;
+ }
+
+ double Logger::getStreamPrintPeriod()
+ {
+ return m_streamPrintPeriod;
+ }
} // namespace dynamicgraph
diff --git a/src/debug/real-time-logger.cpp b/src/debug/real-time-logger.cpp
index 340738054f903b13fb8104b6569ed8b6c406d35c..c78348b31e87d02664b07d3e7683be70fd1be823 100644
--- a/src/debug/real-time-logger.cpp
+++ b/src/debug/real-time-logger.cpp
@@ -87,22 +87,22 @@ namespace dynamicgraph
int threadPolicy;
struct sched_param threadParam;
if (pthread_getschedparam (pthread_self(), &threadPolicy, &threadParam) == 0)
- {
- threadPolicy = SCHED_OTHER;
- threadParam.sched_priority -= 5;
- if (threadParam.sched_priority < sched_get_priority_min (threadPolicy))
- threadParam.sched_priority = sched_get_priority_min (threadPolicy);
+ {
+ threadPolicy = SCHED_OTHER;
+ threadParam.sched_priority -= 5;
+ if (threadParam.sched_priority < sched_get_priority_min (threadPolicy))
+ threadParam.sched_priority = sched_get_priority_min (threadPolicy);
- pthread_setschedparam (pthread_self(), threadPolicy, &threadParam);
- }
+ pthread_setschedparam (pthread_self(), threadPolicy, &threadParam);
+ }
while (!requestShutdown_ || !logger->empty())
- {
- // If the logger did not write anything, it means the buffer is empty.
- // Do a pause
- if (!logger->spinOnce())
- boost::this_thread::sleep(boost::posix_time::milliseconds(100));
- }
+ {
+ // If the logger did not write anything, it means the buffer is empty.
+ // Do a pause
+ if (!logger->spinOnce())
+ boost::this_thread::sleep(boost::posix_time::milliseconds(100));
+ }
}
};
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 75081de942c483a26ad9879560ab969eedabbefd..a7a181548fe485e8e5221c107a2e35345e46279e 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -61,3 +61,4 @@ DYNAMIC_GRAPH_TEST(debug-tracer)
TARGET_LINK_LIBRARIES(debug-tracer tracer)
DYNAMIC_GRAPH_TEST(debug-logger)
DYNAMIC_GRAPH_TEST(debug-logger-winit)
+DYNAMIC_GRAPH_TEST(command-test)
diff --git a/tests/command-test.cpp b/tests/command-test.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3c04780cad31b09ecd8dce2966b1fe9c6c59015b
--- /dev/null
+++ b/tests/command-test.cpp
@@ -0,0 +1,166 @@
+/* Copyright 2019, LAAS-CNRS
+ *
+ * Olivier Stasse
+ *
+ * See LICENSE file
+ *
+ */
+#include <sstream>
+#include <iostream>
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/exception-factory.h>
+#include "dynamic-graph/factory.h"
+#include "dynamic-graph/pool.h"
+#include "dynamic-graph/command-bind.h"
+
+#define ENABLE_RT_LOG
+#include <dynamic-graph/real-time-logger.h>
+#include <dynamic-graph/logger.h>
+
+#define BOOST_TEST_MODULE debug-logger
+
+#include <boost/test/unit_test.hpp>
+#include <boost/test/output_test_stream.hpp>
+
+using boost::test_tools::output_test_stream;
+
+using namespace dynamicgraph::command;
+
+namespace dynamicgraph
+{
+ class CustomEntity : public Entity
+ {
+ public:
+ static const std::string CLASS_NAME;
+ bool test_zero_arg_;
+ bool test_one_arg_;
+ bool test_two_args_;
+ bool test_three_args_;
+ bool test_four_args_;
+
+ virtual const std::string& getClassName () const
+ {
+ return CLASS_NAME;
+ }
+ CustomEntity (const std::string n)
+ : Entity (n)
+ {
+ test_zero_arg_ = false;
+ test_one_arg_ = false;
+ test_two_args_ = false;
+ test_three_args_ = false;
+ test_four_args_ = false;
+
+ addCommand("0_arg",
+ makeCommandVoid0(*this, &CustomEntity::zero_arg,
+ docCommandVoid0("zero arg")));
+
+ addCommand("1_arg",
+ makeCommandVoid1(*this, &CustomEntity::one_arg,
+ docCommandVoid1("one arg",
+ "int")));
+
+ addCommand("2_args",
+ makeCommandVoid2(*this, &CustomEntity::two_args,
+ docCommandVoid2("two args",
+ "int",
+ "int")));
+
+ addCommand("3_args",
+ makeCommandVoid3(*this, &CustomEntity::three_args,
+ docCommandVoid3("three args",
+ "int","int","int")));
+
+ addCommand("4_args",
+ makeCommandVoid4(*this, &CustomEntity::four_args,
+ docCommandVoid4("four args",
+ "int",
+ "int",
+ "int",
+ "int")));
+
+ }
+
+ ~CustomEntity()
+ {
+ }
+
+ void zero_arg()
+ {
+ test_zero_arg_ = true;
+ }
+
+ void one_arg(const int & )
+ {
+ test_one_arg_ = true;
+ }
+
+ void two_args(const int & ,
+ const int & )
+ {
+ test_two_args_ = true;
+ }
+
+ void three_args(const int & ,
+ const int & ,
+ const int & )
+ {
+ test_three_args_ = true;
+ }
+
+ void four_args(const int & ,
+ const int & ,
+ const int & ,
+ const int & )
+ {
+ test_four_args_ = true;
+ }
+
+ };
+ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (CustomEntity,"CustomEntity");
+}
+
+
+BOOST_AUTO_TEST_CASE(command_test)
+{
+ dynamicgraph::CustomEntity& entity =
+ *(dynamic_cast<dynamicgraph::CustomEntity *>
+ (dynamicgraph::FactoryStorage::getInstance()->newEntity("CustomEntity",
+ "my-entity")));
+
+ std::map<const std::string,Command *> aCommandMap =
+ entity.getNewStyleCommandMap();
+
+ std::map<const std::string,Command *>::iterator it_map;
+
+ it_map = aCommandMap.find("0_arg");
+ if (it_map==aCommandMap.end())
+ BOOST_CHECK(false);
+ it_map->second->execute();
+ BOOST_CHECK(entity.test_zero_arg_);
+
+ int first_arg=1;
+ Value aValue(first_arg);
+ std::vector<std::string> vec_fname(4);
+ vec_fname[0]="1_arg";
+ vec_fname[1]="2_args";
+ vec_fname[2]="3_args";
+ vec_fname[3]="4_args";
+ std::vector<Value> values;
+
+ for (unsigned int i=0;i<4;i++)
+ {
+ it_map = aCommandMap.find(vec_fname[i]);
+ if (it_map==aCommandMap.end())
+ BOOST_CHECK(false);
+ values.push_back(aValue);
+ it_map->second->setParameterValues(values);
+ it_map->second->execute();
+ }
+
+ BOOST_CHECK(entity.test_one_arg_);
+ BOOST_CHECK(entity.test_two_args_);
+ BOOST_CHECK(entity.test_three_args_);
+ BOOST_CHECK(entity.test_four_args_);
+
+}
diff --git a/tests/debug-logger-winit.cpp b/tests/debug-logger-winit.cpp
index da951130b554dc4414123c233e9b1740a04562d2..d043b5396972fe10821726194280d30130d21913 100644
--- a/tests/debug-logger-winit.cpp
+++ b/tests/debug-logger-winit.cpp
@@ -7,20 +7,25 @@
*/
#include <sstream>
#include <iostream>
+
+#define ENABLE_RT_LOG
#include <dynamic-graph/entity.h>
#include <dynamic-graph/exception-factory.h>
#include "dynamic-graph/factory.h"
#include "dynamic-graph/pool.h"
-#define ENABLE_RT_LOG
#include <dynamic-graph/real-time-logger.h>
#include <dynamic-graph/logger.h>
+
#define BOOST_TEST_MODULE debug-logger
#include <boost/test/unit_test.hpp>
#include <boost/test/output_test_stream.hpp>
+#include <boost/thread/thread.hpp>
+#include <boost/date_time/posix_time/posix_time.hpp>
+
using boost::test_tools::output_test_stream;
@@ -78,7 +83,7 @@ BOOST_AUTO_TEST_CASE(debug_logger_wrong_initialization)
dynamicgraph::FactoryStorage::getInstance()->newEntity("CustomEntity",
"my-entity-2")));
- for(unsigned int i=0;i<10000;i++)
+ for(unsigned int i=0;i<1000;i++)
{
entity.testDebugTrace();
}
diff --git a/tests/debug-logger.cpp b/tests/debug-logger.cpp
index e36483f42d4002eaa6a5e863018614d57773740a..7499e0b100922d97b517b691f294cab3a16857c7 100644
--- a/tests/debug-logger.cpp
+++ b/tests/debug-logger.cpp
@@ -78,6 +78,11 @@ BOOST_AUTO_TEST_CASE(debug_logger)
dynamicgraph::FactoryStorage::getInstance()->newEntity("CustomEntity",
"my-entity")));
+ entity.setTimeSample(0.002);
+ BOOST_CHECK_EQUAL(entity.getTimeSample(),0.002);
+ entity.setStreamPrintPeriod(0.004);
+ BOOST_CHECK_EQUAL(entity.getStreamPrintPeriod(),0.004);
+
for(unsigned int i=0;i<10000;i++)
{
entity.testDebugTrace();